DocumentCode
1772975
Title
GPS-denied hover stabilization of a quad-rotor via visual servoing
Author
Buck, Louis H. ; Manegold, David R. ; Ray, Laura E.
Author_Institution
Phys. Sci., Inc., USA
fYear
2014
fDate
14-15 April 2014
Firstpage
1
Lastpage
6
Abstract
We present a hover stabilization system for a quad-rotor MAV. The stabilizer uses a downward-facing CMOS camera and a pyramidal Lucas-Kanade optical flow algorithm running on an embedded computer-on-module to detect self-motion and stabilize laterally. Using this system, the vehicle is able to hover within 20 centimeters of its original location for over five minutes above a variety of surfaces, including carpet, asphalt, concrete and grass.
Keywords
CMOS image sensors; aircraft control; autonomous aerial vehicles; cameras; helicopters; image sequences; motion control; object detection; robot vision; stability; visual servoing; GPS-denied hover stabilization system; downward-facing CMOS camera; embedded computer-on-module; micro air vehicle; pyramidal Lucas-Kanade optical flow algorithm; quad-rotor MAV; self-motion detection; stabilizer; visual servoing; Computer vision; Detectors; Feature extraction; Image motion analysis; Optical imaging; Tracking; Vehicles;
fLanguage
English
Publisher
ieee
Conference_Titel
Technologies for Practical Robot Applications (TePRA), 2014 IEEE International Conference on
Conference_Location
Woburn, MA
Print_ISBN
978-1-4799-4606-8
Type
conf
DOI
10.1109/TePRA.2014.6869147
Filename
6869147
Link To Document